diff --git a/flight/modules/GPS/GPS.c b/flight/modules/GPS/GPS.c
index 2517aef98..e8524fd2e 100644
--- a/flight/modules/GPS/GPS.c
+++ b/flight/modules/GPS/GPS.c
@@ -268,11 +268,17 @@ static void gpsTask(__attribute__((unused)) void *parameters)
             {
 #if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
                 int32_t ac_status = ubx_autoconfig_get_status();
+                static uint8_t lastStatus = 0;
+
                 gpspositionsensor.AutoConfigStatus =
                     ac_status == UBX_AUTOCONFIG_STATUS_DISABLED ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DISABLED :
                     ac_status == UBX_AUTOCONFIG_STATUS_DONE ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_DONE :
                     ac_status == UBX_AUTOCONFIG_STATUS_ERROR ? GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR :
                     GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_RUNNING;
+                if (gpspositionsensor.AutoConfigStatus != lastStatus) {
+                    GPSPositionSensorAutoConfigStatusSet(&gpspositionsensor.AutoConfigStatus);
+                    lastStatus = gpspositionsensor.AutoConfigStatus;
+                }
 #endif
                 res = parse_ubx_stream(c, gps_rx_buffer, &gpspositionsensor, &gpsRxStats);
             }
@@ -292,7 +298,8 @@ static void gpsTask(__attribute__((unused)) void *parameters)
 
         // Check for GPS timeout
         timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
-        if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS) {
+        if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS ||
+            (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX && gpspositionsensor.AutoConfigStatus == GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR)) {
             // we have not received any valid GPS sentences for a while.
             // either the GPS is not plugged in or a hardware problem or the GPS has locked up.
             uint8_t status = GPSPOSITIONSENSOR_STATUS_NOGPS;
diff --git a/flight/modules/GPS/inc/ubx_autoconfig.h b/flight/modules/GPS/inc/ubx_autoconfig.h
index 25a5857b0..734c54537 100644
--- a/flight/modules/GPS/inc/ubx_autoconfig.h
+++ b/flight/modules/GPS/inc/ubx_autoconfig.h
@@ -45,7 +45,8 @@
 #define UBX_REPLY_TIMEOUT       (500 * 1000)
 // max retries in case of timeout
 #define UBX_MAX_RETRIES         5
-
+// pause between each configuration step
+#define UBX_STEP_WAIT_TIME      (10 * 1000)
 // types
 typedef enum {
     UBX_AUTOCONFIG_STATUS_DISABLED = 0,
diff --git a/flight/modules/GPS/ubx_autoconfig.c b/flight/modules/GPS/ubx_autoconfig.c
index bf9b41cf7..1671b601a 100644
--- a/flight/modules/GPS/ubx_autoconfig.c
+++ b/flight/modules/GPS/ubx_autoconfig.c
@@ -287,7 +287,9 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connec
     if (!status || !enabled || status->currentStep == INIT_STEP_DISABLED) {
         return; // autoconfig not enabled
     }
-
+    if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_STEP_WAIT_TIME) {
+        return;
+    }
     // when gps is disconnected it will replay the autoconfig sequence.
     if (!gps_connected) {
         if (status->currentStep == INIT_STEP_DONE) {
@@ -318,6 +320,10 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send, bool gps_connec
 
     case INIT_STEP_START:
     case INIT_STEP_ASK_VER:
+        // clear ack
+        ubxLastAck.clsID = 0x00;
+        ubxLastAck.msgID = 0x00;
+
         status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
         build_request(&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send);
         status->currentStep = INIT_STEP_WAIT_VER;